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Sounds like the setup of your JointTrajectoryController for Gazebo has too narrow tolerances and/or the PID values for the arm do not allow it to reach the goal position within the specified tolerances. See the parameters description here for a description of parameters for the controller.

A example Gazebo ros control setup for another arm is this one: default_controllers.yaml. Yours should look somewhat similar.

Does the arm move at all?

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